LIS2MDL magnetometer modified library
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
LIS2MDLSensor.h
- Committer:
- cparata
- Date:
- 2019-03-05
- Revision:
- 0:671edf39d961
- Child:
- 1:8562ae1a0534
File content as of revision 0:671edf39d961:
/** ****************************************************************************** * @file LIS2MDLSensor.h * @author SRA * @version V1.0.0 * @date February 2019 * @brief Abstract Class of an LIS2MDL 3 axes magnetometer sensor. ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2019 STMicroelectronics</center></h2> * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Prevent recursive inclusion -----------------------------------------------*/ #ifndef __LIS2MDLSensor_H__ #define __LIS2MDLSensor_H__ /* Includes ------------------------------------------------------------------*/ #include "DevI2C.h" #include "lis2mdl_reg.h" #include "MagneticSensor.h" #include <assert.h> /* Defines -------------------------------------------------------------------*/ #define LIS2MDL_MAG_SENSITIVITY_FS_50GAUSS 1.500f /**< Sensitivity value for 50 gauss full scale [mgauss/LSB] */ /* Typedefs ------------------------------------------------------------------*/ typedef struct { int16_t x; int16_t y; int16_t z; } LIS2MDL_AxesRaw_t; typedef struct { int32_t x; int32_t y; int32_t z; } LIS2MDL_Axes_t; /* Class Declaration ---------------------------------------------------------*/ /** * Abstract class of an LIS2MDL Inertial Measurement Unit (IMU) 3 axes * sensor. */ class LIS2MDLSensor : public MagneticSensor { public: enum SPI_type_t {SPI3W, SPI4W}; LIS2MDLSensor(SPI *spi, PinName cs_pin, PinName int_pin=NC, SPI_type_t spi_type=SPI4W); LIS2MDLSensor(DevI2C *i2c, uint8_t address=LIS2MDL_I2C_ADD, PinName int_pin=NC); virtual int init(void *init); virtual int read_id(uint8_t *id); virtual int get_m_axes(int32_t *magnetic_field); virtual int get_m_axes_raw(int16_t *value); int enable(void); int disable(void); int get_m_sensitivity(float *sensitivity); int get_m_odr(float *odr); int set_m_odr(float odr); int get_m_fs(float *full_scale); int set_m_fs(float full_scale); int read_reg(uint8_t reg, uint8_t *data); int write_reg(uint8_t reg, uint8_t data); int set_m_self_test(uint8_t status); int get_m_drdy_status(uint8_t *status); /** * @brief Attaching an interrupt handler to the INT interrupt. * @param fptr An interrupt handler. * @retval None. */ void attach_int_irq(void (*fptr)(void)) { _int_irq.rise(fptr); } /** * @brief Enabling the INT interrupt handling. * @param None. * @retval None. */ void enable_int_irq(void) { _int_irq.enable_irq(); } /** * @brief Disabling the INT interrupt handling. * @param None. * @retval None. */ void disable_int_irq(void) { _int_irq.disable_irq(); } /** * @brief Utility function to read data. * @param pBuffer: pointer to data to be read. * @param RegisterAddr: specifies internal address register to be read. * @param NumByteToRead: number of bytes to be read. * @retval 0 if ok, an error code otherwise. */ uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead) { if (_dev_spi) { /* Write Reg Address */ _dev_spi->lock(); _cs_pin = 0; if (_spi_type == SPI4W) { _dev_spi->write(RegisterAddr | 0x80); for (int i=0; i<NumByteToRead; i++) { *(pBuffer+i) = _dev_spi->write(0x00); } } else if (_spi_type == SPI3W){ /* Write RD Reg Address with RD bit*/ uint8_t TxByte = RegisterAddr | 0x80; _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead); } _cs_pin = 1; _dev_spi->unlock(); return 0; } if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead); return 1; } /** * @brief Utility function to write data. * @param pBuffer: pointer to data to be written. * @param RegisterAddr: specifies internal address register to be written. * @param NumByteToWrite: number of bytes to write. * @retval 0 if ok, an error code otherwise. */ uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite) { if (_dev_spi) { _dev_spi->lock(); _cs_pin = 0; _dev_spi->write(RegisterAddr); _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0); _cs_pin = 1; _dev_spi->unlock(); return 0; } if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite); return 1; } private: /* Helper classes. */ DevI2C *_dev_i2c; SPI *_dev_spi; /* Configuration */ uint8_t _address; DigitalOut _cs_pin; InterruptIn _int_irq; SPI_type_t _spi_type; uint8_t _mag_is_enabled; lis2mdl_ctx_t _reg_ctx; }; #ifdef __cplusplus extern "C" { #endif int32_t LIS2MDL_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite ); int32_t LIS2MDL_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead ); #ifdef __cplusplus } #endif #endif